diff --git a/CMakeLists.txt b/CMakeLists.txt
index 159bb3fdb5e3da675e201824dfbbdfe5d5dcf1e3..d5ccfe2a11e081f30b352e526867135be1cf627d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,6 +59,8 @@ add_service_files(
   FILES
   get_rooms_to_search.srv
   upload_answers.srv
+  get_current_room.srv
+  get_current_person_pose.srv
 #   Service1.srv
 #   Service2.srv
 )
diff --git a/action/ask_questionary.action b/action/ask_questionary.action
index 8fb6b19bbaf2557c6c6399be59e41e22e351e157..ed5a5c9641f5ee1ff57f03b81de02c9f8510af89 100644
--- a/action/ask_questionary.action
+++ b/action/ask_questionary.action
@@ -21,9 +21,10 @@ uint8 CATALAN=1
 uint8 SPANISH=2
 
 ##### Tone/Sentiment code
-uint8 HAPPY=0
-uint8 SAD=1
-uint8 NEUTRAL=2
+uint8 UNKNOWN=0
+uint8 HAPPY=1
+uint8 SAD=2
+uint8 NEUTRAL=3
 
 ##### Status code
 uint8 SEARCHING=0 # Searching the person
@@ -31,10 +32,6 @@ uint8 APPROACHING=1 #Person found. Approaching person.
 uint8 ASKING=2 # Asking the questionary
 uint8 RETURNING=3 # Returning home.
 
-##### Person pose code
-uint8 SIT=0
-uint8 STANDING=1
-uint8 LYING=2
 
 string questionary_id #Questionary name.
 string[] questions_id #Vector with the questions references to ask. If empty ask all.
@@ -51,11 +48,6 @@ bool get_pose # Bool to get person pose
 ---
 int32 result_code #Result code.
 string result_str # Result human readable string.
-int32 final_pose # person pose code
-int32 sentiment # person sentiment
-string room #
 ---
 int32 status_code #Status code.
 string status_str # Status human readable string.
-int32 pose # person pose code
-int32 sentiment # person sentiment
diff --git a/action/ask_questions.action b/action/ask_questions.action
index 3f10dd921d232456a2081455eb1b88e451769337..8ab044cdfdca2d6b747b1b067167ac6f547c684e 100644
--- a/action/ask_questions.action
+++ b/action/ask_questions.action
@@ -10,9 +10,9 @@ uint8 CATALAN=1
 uint8 SPANISH=2
 
 ##### Tone/Sentiment code
-uint8 HAPPY=0
-uint8 SAD=1
-uint8 NEUTRAL=2
+uint8 HAPPY=1
+uint8 SAD=2
+uint8 NEUTRAL=3
 
 string questionary_id #Questionary name.
 string[] questions_id #Vector with the questions references to ask. If empty ask all.
diff --git a/srv/get_current_person_pose.srv b/srv/get_current_person_pose.srv
new file mode 100644
index 0000000000000000000000000000000000000000..5e44bea4c20ab14baa5f54bfde9b8c99d236dc23
--- /dev/null
+++ b/srv/get_current_person_pose.srv
@@ -0,0 +1,10 @@
+# Service to get the current person pose.
+
+##### Person pose code
+uint8 UNKNOWN=0 
+uint8 SIT=1
+uint8 STANDING=2
+uint8 LYING=3
+
+---
+int32 pose # person pose code
diff --git a/srv/get_current_room.srv b/srv/get_current_room.srv
new file mode 100644
index 0000000000000000000000000000000000000000..4b7c3183558c6ca4634f8c34d15884282c81d653
--- /dev/null
+++ b/srv/get_current_room.srv
@@ -0,0 +1,4 @@
+# Service to get current room
+
+---
+string room # Current_room